diff options
Diffstat (limited to 'altoslib/AltosTelemetryMegaSensor.java')
| -rw-r--r-- | altoslib/AltosTelemetryMegaSensor.java | 88 |
1 files changed, 46 insertions, 42 deletions
diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 2dfc455a..4c64b554 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -16,64 +16,68 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { - int accel; - int pres; - int temp; + int orient() { return int8(5); } - int accel_x; - int accel_y; - int accel_z; + int accel() { return int16(6); } + int pres() { return int32(8); } + int temp() { return int16(12); } - int gyro_x; - int gyro_y; - int gyro_z; + int accel_x() { return int16(14); } + int accel_y() { return int16(16); } + int accel_z() { return int16(18); } - int mag_x; - int mag_y; - int mag_z; + int gyro_x() { return int16(20); } + int gyro_y() { return int16(22); } + int gyro_z() { return int16(24); } - int orient; + int mag_x() { return int16(26); } + int mag_z() { return int16(28); } + int mag_y() { return int16(30); } - public AltosTelemetryMegaSensor(int[] bytes) { + public AltosTelemetryMegaSensor(int[] bytes) throws AltosCRCException { super(bytes); + } - orient = int8(5); - accel = int16(6); - pres = int32(8); - temp = int16(12); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); - accel_x = int16(14); - accel_y = int16(16); - accel_z = int16(18); + AltosCalData cal_data = listener.cal_data(); - gyro_x = int16(20); - gyro_y = int16(22); - gyro_z = int16(24); + listener.set_acceleration(cal_data.acceleration(accel())); + listener.set_pressure(pres()); + listener.set_temperature(temp() / 100.0); - mag_x = int16(26); - mag_y = int16(28); - mag_z = int16(30); - } + listener.set_orient(orient()); - public void update_state(AltosState state) { - super.update_state(state); + /* XXX we have no calibration data for these values */ - state.set_accel(accel); - state.set_pressure(pres); - state.set_temperature(temp / 100.0); + if (cal_data.accel_zero_along == AltosLib.MISSING) + cal_data.set_accel_zero(0, 0, 0); + if (cal_data.gyro_zero_roll == AltosLib.MISSING) + cal_data.set_gyro_zero(0, 0, 0); - state.set_orient(orient); + int accel_along = accel_y(); + int accel_across = accel_x(); + int accel_through = accel_z(); + int gyro_roll = gyro_y(); + int gyro_pitch = gyro_x(); + int gyro_yaw = gyro_z(); - state.set_imu(new AltosIMU(accel_y, /* along */ - accel_x, /* across */ - accel_z, /* through */ - gyro_y, /* along */ - gyro_x, /* across */ - gyro_z)); /* through */ + int mag_along = mag_y(); + int mag_across = mag_x(); + int mag_through = mag_z(); - state.set_mag(new AltosMag(mag_x, mag_y, mag_z)); + listener.set_accel(cal_data.accel_along(accel_along), + cal_data.accel_across(accel_across), + cal_data.accel_through(accel_through)); + listener.set_gyro(cal_data.gyro_roll(gyro_roll), + cal_data.gyro_pitch(gyro_pitch), + cal_data.gyro_yaw(gyro_yaw)); + listener.set_mag(cal_data.mag_along(mag_along), + cal_data.mag_across(mag_across), + cal_data.mag_through(mag_through)); } } |